version: 66.06
glider: 146
mission: 7
dive: 86
start: 6 6 112 17 12 53
data:
$ID,146
$MISSION,7
$DIVE,86
$D_SURF,4
$D_FLARE,3
$D_TGT,700
$D_ABORT,800
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,233
$T_MISSION,500
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,140
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52355
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-289500.91
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3144
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,2210
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3150
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,94
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-29.527605
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,10
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043256786
$SEABIRD_T_H,0.0006194216
$SEABIRD_T_I,2.1253354e-05
$SEABIRD_T_J,2.0307182e-06
$SEABIRD_C_G,-9.7992477
$SEABIRD_C_H,1.0845563
$SEABIRD_C_I,-0.0017217569
$SEABIRD_C_J,0.00021252052
$GPS1,170507,2246.503,-15739.282,37,1.0,37,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-70.2
$GPS2,171156,2246.570,-15739.263,11,1.3,11,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,CHOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.037,-0.249
$KALMAN_X,-84618.6,101.8,-63.0,126366.6,811.2
$KALMAN_Y,-14415.2,20.9,-517.8,25984.0,1745.4
$MHEAD_RNG_PITCHd_Wd,178.4,14987,-18.2,-10.014
$D_GRID,700
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.31,-136.2,0.0,0.0,0,114,0.00,0.00,-87.28,0.000,6,0.000,0.000,470,2217,3706,0,0,0,0,0,0
$GC,118,-1.31,-136.2,4.2,-11.1,12,144,13.20,2.67,0.00,0.000,4,0.174,0.038,2854,619,3708,0,0,0,0,0,0
$GC,295,-1.15,-136.2,43.7,-16.0,32,300,0.17,2.50,0.00,0.000,6,0.123,0.020,2890,2213,3708,0,0,0,0,0,0
$GC,563,-1.11,-136.2,80.2,-12.3,56,572,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2213,3708,0,0,0,0,0,0
$GC,828,-1.11,-136.2,111.8,-11.0,81,832,0.00,2.60,0.00,0.000,4,0.000,0.049,2890,626,3709,0,0,0,0,0,0
$GC,869,-1.06,-136.2,116.7,-11.3,84,875,0.10,2.47,0.00,0.000,6,0.130,0.025,2909,2220,3709,0,0,0,0,0,0
$GC,1130,-1.06,-136.3,141.0,-10.0,108,1132,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2220,3709,0,0,0,0,0,0
$GC,1389,-1.10,-136.3,164.8,-8.1,132,1398,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2220,3710,0,0,0,0,0,0
$GC,1656,-1.14,-136.3,188.8,-9.0,157,1661,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2220,3710,0,0,0,0,0,0
$GC,1914,-1.19,-136.3,210.8,-8.4,173,1919,0.12,2.67,0.00,0.000,4,0.070,0.053,2861,617,3710,0,0,0,0,0,0
$GC,1981,-1.15,-136.3,217.5,-10.1,174,1986,0.15,2.47,0.00,0.000,6,0.104,0.024,2893,2219,3710,0,0,0,0,0,0
$GC,2237,-1.19,-136.3,242.1,-9.8,181,2241,0.00,2.53,0.00,0.000,4,0.000,0.040,2893,3778,3710,0,0,0,0,0,0
$GC,2266,-1.24,-136.3,244.9,-9.8,181,2270,0.00,2.45,0.00,0.000,6,0.000,0.028,2893,2208,3710,0,0,0,0,0,0
$GC,2517,-1.29,-136.3,265.9,-8.2,187,2522,0.12,2.62,0.00,0.000,4,0.070,0.062,2849,635,3710,0,0,0,0,0,0
$GC,2563,-1.24,-136.3,270.3,-10.2,188,2568,0.10,2.45,0.00,0.000,6,0.122,0.024,2870,2210,3711,0,0,0,0,0,0
$GC,2840,-1.24,-136.3,294.9,-8.6,195,2845,0.00,2.65,0.00,0.000,4,0.000,0.060,2870,631,3710,0,0,0,0,0,0
$GC,2862,-1.24,-136.3,296.9,-8.2,195,2866,0.00,2.50,0.00,0.000,6,0.000,0.029,2870,2211,3710,0,0,0,0,0,0
$GC,3118,-1.24,-136.3,316.5,-7.7,202,3120,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2211,3709,0,0,0,0,0,0
$GC,3361,-1.24,-136.3,336.9,-8.5,208,3362,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2211,3709,0,0,0,0,0,0
$GC,3604,-1.24,-136.3,358.3,-8.8,214,3605,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2211,3707,0,0,0,0,0,0
$GC,3848,-1.24,-136.3,379.0,-8.5,220,3849,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2211,3706,0,0,0,0,0,0
$GC,4094,-1.28,-136.3,397.3,-7.4,226,4095,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2211,3704,0,0,0,0,0,0
$GC,4336,-1.32,-136.3,415.3,-7.4,232,4340,0.00,2.75,0.00,0.000,4,0.000,0.078,2870,642,3703,0,0,0,0,0,0
$GC,4379,-1.32,-136.3,418.9,-8.4,233,4384,0.00,2.53,0.00,0.000,6,0.000,0.041,2870,2193,3703,0,0,0,0,0,0
$GC,4658,-1.37,-136.3,440.0,-7.6,240,4659,0.10,0.00,0.00,0.000,6,0.087,0.000,2835,2193,3701,0,0,0,0,0,0
$GC,4901,-1.37,-136.3,462.0,-9.2,246,4902,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2193,3699,0,0,0,0,0,0
$GC,5144,-1.37,-136.3,483.8,-8.9,252,5146,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2193,3698,0,0,0,0,0,0
$GC,5390,-1.37,-136.3,505.1,-8.5,258,5391,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2193,3697,0,0,0,0,0,0
$GC,5632,-1.37,-136.3,525.0,-8.1,264,5636,0.00,2.85,0.00,0.000,4,0.000,0.104,2834,646,3696,0,0,0,0,0,0
$GC,5653,-1.37,-136.3,526.9,-8.7,264,5658,0.00,2.62,0.00,0.000,6,0.000,0.053,2834,2208,3696,0,0,0,0,0,0
$GC,5911,-1.37,-136.3,544.9,-6.8,271,5912,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2209,3693,0,0,0,0,0,0
$GC,6153,-1.37,-136.3,560.4,-6.4,277,6154,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2209,3692,0,0,0,0,0,0
$GC,6396,-1.37,-136.3,576.3,-6.6,283,6401,0.00,2.88,0.00,0.000,4,0.000,0.101,2835,3796,3691,0,0,0,0,0,0
$GC,6412,-1.37,-136.3,577.4,-6.9,283,6416,0.00,2.70,0.00,0.000,6,0.000,0.061,2835,2224,3691,0,0,0,0,0,0
$GC,6674,-1.37,-136.3,597.3,-7.5,290,6675,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2224,3689,0,0,0,0,0,0
$GC,6916,-1.37,-136.3,614.8,-7.2,296,6917,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2224,3687,0,0,0,0,0,0
$GC,7160,-1.37,-136.3,631.8,-6.9,302,7165,0.00,3.10,0.00,0.000,4,0.000,0.130,2835,624,3686,0,0,0,0,0,0
$GC,7189,-1.37,-136.3,633.7,-6.9,302,7194,0.00,2.75,0.00,0.000,6,0.000,0.073,2835,2202,3686,0,0,0,0,0,0
$GC,7439,-1.37,-136.3,651.3,-6.9,308,7444,0.00,2.95,0.00,0.000,4,0.000,0.105,2835,3798,3685,0,0,0,0,0,0
$GC,7483,-1.37,-136.3,654.8,-8.3,309,7488,0.00,2.88,0.00,0.000,6,0.000,0.089,2835,2215,3685,0,0,0,0,0,0
$GC,7762,-1.37,-136.3,675.7,-7.6,316,7763,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2215,3684,0,0,0,0,0,0
$GC,8004,-1.37,-136.3,694.1,-7.5,322,8005,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2215,3683,0,0,0,0,0,0
$STATE,8123,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8123,begin apogee
$GC,8129,-0.31,0.0,702.4,6.9,325,8246,1.05,0.00,110.78,1.100,6,0.094,0.000,3073,2214,3150,0,0,0,0,0,0
$STATE,8248,end apogee,CONTROL_FINISHED_OK
$STATE,8248,begin climb
$GC,8251,1.31,136.3,703.4,0.0,328,8376,1.50,0.00,117.20,1.068,6,0.050,0.000,3430,2214,2594,0,0,0,0,0,0
$GC,8616,1.16,136.3,663.8,12.5,337,8622,0.17,2.92,0.00,0.000,4,0.126,0.094,3396,3790,2585,0,0,0,0,0,0
$GC,8648,1.05,136.3,660.4,12.0,337,8653,0.12,2.95,0.00,0.000,6,0.130,0.097,3373,2203,2584,0,0,0,0,0,0
$GC,8898,1.07,150.4,636.5,9.3,343,8912,0.00,0.00,12.27,0.949,6,0.000,0.000,3373,2203,2536,0,0,0,0,0,0
$GC,9141,1.08,155.6,612.6,9.8,349,9149,0.00,0.00,5.72,0.792,6,0.000,0.000,3373,2203,2515,0,0,0,0,0,0
$GC,9387,1.09,165.4,589.4,9.5,355,9399,0.00,0.00,10.38,0.915,6,0.000,0.000,3373,2203,2475,0,0,0,0,0,0
$GC,9629,1.09,168.1,565.2,9.9,361,9630,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,2203,2471,0,0,0,0,0,0
$GC,9872,1.10,176.4,541.9,9.6,367,9891,0.00,2.80,11.07,0.910,4,0.000,0.064,3373,3789,2428,0,0,0,0,0,0
$GC,9935,1.10,176.4,535.3,10.9,368,9940,0.00,2.70,0.00,0.000,6,0.000,0.050,3373,2205,2427,0,0,0,0,0,0
$GC,10196,1.11,180.3,510.0,9.8,375,10206,0.00,3.00,4.50,0.684,4,0.000,0.106,3373,609,2414,0,0,0,0,0,0
$GC,10223,1.11,180.3,507.2,10.6,375,10227,0.00,2.67,0.00,0.000,6,0.000,0.041,3373,2219,2414,0,0,0,0,0,0
$GC,10475,1.12,194.3,483.5,9.3,381,10491,0.00,0.00,14.45,0.910,6,0.000,0.000,3373,2219,2357,0,0,0,0,0,0
$GC,10717,1.14,204.4,460.5,9.5,387,10732,0.00,2.88,10.38,0.858,4,0.000,0.070,3373,605,2315,0,0,0,0,0,0
$GC,10749,1.14,204.4,457.1,10.3,387,10755,0.00,2.65,0.00,0.000,6,0.000,0.035,3373,2213,2314,0,0,0,0,0,0
$GC,11001,1.14,204.4,429.4,11.2,394,11005,0.00,2.65,0.00,0.000,4,0.000,0.054,3373,3793,2313,0,0,0,0,0,0
$GC,11033,1.14,204.4,425.3,12.7,394,11039,0.00,2.65,0.00,0.000,6,0.000,0.037,3373,2191,2312,0,0,0,0,0,0
$GC,11283,1.14,204.4,396.9,11.2,401,11284,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,2191,2312,0,0,0,0,0,0
$GC,11526,1.14,204.4,371.8,10.3,407,11531,0.00,2.62,0.00,0.000,4,0.000,0.044,3373,3786,2311,0,0,0,0,0,0
$GC,11570,1.18,204.4,367.6,11.2,408,11575,0.12,2.60,0.00,0.000,6,0.079,0.032,3406,2194,2311,0,0,0,0,0,0
$GC,11853,1.18,204.4,334.9,11.5,415,11854,0.00,0.00,0.00,0.000,6,0.000,0.000,3407,2194,2311,0,0,0,0,0,0
$GC,12097,1.18,204.4,309.8,10.1,421,12101,0.00,2.62,0.00,0.000,4,0.000,0.046,3406,3791,2310,0,0,0,0,0,0
$GC,12131,1.18,204.4,306.2,11.1,421,12136,0.00,2.60,0.00,0.000,6,0.000,0.035,3406,2189,2310,0,0,0,0,0,0
$GC,12380,1.18,204.4,279.5,10.8,428,12385,0.00,2.67,0.00,0.000,4,0.000,0.064,3406,615,2310,0,0,0,0,0,0
$GC,12413,1.13,204.4,275.5,12.1,428,12419,0.00,2.55,0.00,0.000,6,0.000,0.025,3406,2211,2309,0,0,0,0,0,0
$GC,12665,1.13,204.4,247.0,11.3,435,12666,0.00,0.00,0.00,0.000,6,0.000,0.000,3406,2211,2309,0,0,0,0,0,0
$GC,12906,1.13,204.4,220.6,10.4,441,12911,0.00,2.58,0.00,0.000,4,0.000,0.046,3407,3780,2310,0,0,0,0,0,0
$GC,12979,1.15,222.1,213.6,9.1,442,13000,0.00,2.53,16.10,0.703,6,0.000,0.027,3406,2202,2244,0,0,0,0,0,0
$GC,13260,1.21,268.6,188.4,7.7,457,13308,0.00,2.78,41.20,0.699,4,0.000,0.058,3406,616,2053,0,0,0,0,0,0
$GC,13330,1.22,276.6,182.7,9.6,463,13345,0.00,2.53,8.25,0.600,6,0.000,0.027,3406,2208,2021,0,0,0,0,0,0
$GC,13607,1.22,276.6,154.1,10.4,489,13608,0.00,0.00,0.00,0.000,6,0.000,0.000,3406,2209,2018,0,0,0,0,0,0
$GC,13868,1.26,276.6,125.3,11.9,513,13872,0.00,2.67,0.00,0.000,4,0.000,0.055,3407,619,2018,0,0,0,0,0,0
$GC,13936,1.33,276.6,115.7,12.6,518,13946,0.08,2.53,0.00,0.000,6,0.048,0.021,3439,2197,2017,0,0,0,0,0,0
$GC,14202,1.33,276.6,82.1,11.7,543,14207,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2198,2017,0,0,0,0,0,0
$GC,14469,1.33,276.6,48.7,12.7,568,14473,0.00,2.53,0.00,0.000,4,0.000,0.035,3439,3774,2017,0,0,0,0,0,0
$GC,14501,1.33,276.6,44.4,11.3,570,14505,0.00,2.55,0.00,0.000,6,0.000,0.028,3439,2188,2017,0,0,0,0,0,0
$GC,14803,1.33,276.6,9.2,11.6,607,14813,0.00,2.62,0.00,0.000,4,0.000,0.049,3439,620,2017,0,0,0,0,0,0
$STATE,14848,end climb,SURFACE_DEPTH_REACHED
$STATE,14848,begin surface coast
$FINISH,-0.5,1.023741
$STATE,14890,end surface coast,CONTROL_FINISHED_OK
$STATE,14890,begin surface
$SM_CCo,14916,82.85,0.518,0,0,1600,380.21
$SM_GC,0.13,0.00,0.00,82.85,0.000,0.000,0.518,470,2229,1600,-12.30,0.54,380.21
$IRIDIUM_FIX,2239.35,-15742.40,310801,121252
$TT8_MAMPS,0.026078
$HUMID,58.26
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,21.60
$XPDR_PINGS,40
$24V_AH,23.3,12.949
$10V_AH,10.3,12.071
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,29.050,128.000,362.300,82.850,0.000,28.868,35.595,191.416,10.000,0.000,12.896,1236.402,11005.371,543.394,2003.680,618.706,33.368,1349.190,0.000,2015.394,0.000,0.534,0.000
$DEVICE_MAMPS,174.109,129.623,1099.878,518.492,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,420.746,306.381,408.358,706.167,1068.287,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,47885,619
$CAP_FILE_SIZE,128502,0
$CFSIZE,260165632,141520896
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060612,212406,2245.704,-15738.679,32,1.3,32,10.1